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Development of Driving Control Algorithm for Vehicle Maneuverability Performance and Lateral Stability of 4WD Electric Vehicle

4WD 전기 차량의 선회 성능 및 횡방향 안정성 향상을 위한 주행 제어 알고리즘 개발

  • 서종상 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부) ;
  • 강주용 (현대기아 자동차)
  • Received : 2013.06.01
  • Accepted : 2013.06.12
  • Published : 2013.06.30

Abstract

This paper describes development of 4 Wheel Drive (4WD) Electric Vehicle (EV) based driving control algorithm for severe driving situation such as icy road or disturbance. The proposed control algorithm consists three parts : a supervisory controller, an upper-level controller and optimal torque vectoring controller. The supervisory controller determines desired dynamics with cornering stiffness estimator using recursive least square. The upper-level controller determines longitudinal force and yaw moment using sliding mode control. The yaw moment, particularly, is calculated by integration of a side-slip angle and yaw rate for the performance and robustness benefits. The optimal torque vectoring controller determines the optimal torques each wheel using control allocation method. The numerical simulation studies have been conducted to evaluated the proposed driving control algorithm. It has been shown from simulation studies that vehicle maneuverability and lateral stability performance can be significantly improved by the proposed driving controller in severe driving situations.

Keywords